This paper proposes a fusion controller combing an anti-windup PID controller and BELBIC (Brain Emotional Learning Based Intelligent Controller) for controlling the position and vibration of a robot system having a single flexible manipulator. A finite element model of the flexible manipulator is developed. The reliability of it is verified by comparing the natural frequencies computed using the finite-element method with the experimentally measured ones. An MSC.ADAMS computational model of the robot system is interfaced with the proposed controller in MATLAB/Simulink, for carrying out a simulation. The simulation is performed with various references inputs and endpoint masses. The effectiveness and robustness of the proposed controller for control of the position and vibration of the flexible manipulator is shown through the simulation.

This paper presents development of the new haptic device for virtual wall collision test. Mathematical model of the proposed system considering virtual wall collision is developed and tuned by comparing force responses from simulation and experiment with free motion. To verify the effectiveness of the proposed model, a range of collision tests against virtual wall are accomplished, conditioned on different collision speeds to virtual wall. In addition, hybrid PI control scheme is applied to improve the performance of the proposed haptic system in virtual wall collision experiments.

This paper studies the effect of a playtykurtic excitation signal on fatigue life. In general, a vibration test uses an excitation signal having a normal distribution of kurtosis 3. However, a vibration signal generated in a product’s operation environment has usually a non-normal distribution. This paper uses ZMNL method to generate a playtykurtic excitation signal having the equivalent power spectrum density with a reference vibration profile. This paper proposes a method which uses a fatigue damage spectrum ratio for studying the effect of a playtykurtic excitation signal on fatigue life. The fatigue spectrum damage ratio is obtained by dividing a fatigue damage spectrum acquired using the acceleration profile in which all conditions are the same except for the kurtosis by a fatigue damage spectrum acquired theoretically. This paper shows that the signal of kurtosis less than 3 can increase the fatigue damage spectrum by more than 2 to 4 times compared to the signal of kurtosis 3 using the fatigue damage spectrum ratio.

Recently, a study on reducing the weight of the robot arm, which enables a high-speed operation and enables reducing the energy consumption has been actively carried out. A lightweight robot arm is hard to control because it behaves like a flexible body rather than a rigid body. This paper proposes a controller which combines a PID controller and a fuzzy logic controller for control the position and vibration of the flexible robot arm. In order to show the effectiveness of the proposed controller, MSC.ADAMS computational model which incorporates the finite element flexible robot arm model is developed, and is used for performing simulations. Simulations are carried out with two reference inputs, and three end masses. Simulation results show that the proposed controller controls the position and vibration of the flexible robot arm adaptively without being affected by the reference input and the end mass.

This paper studies on the effect of kurtosis on fatigue life. A typical vibration test machine uses a normal distribution signal. However, the vibration signal generated in the actual operating environment is a non-normal distribution signal with kurtosis. In this paper, a signal which has the same power spectral density, but has different kurtosis is generated using the Zero Memory Non-Linear(ZMNL) method. The power spectral densities of these two signal will coincide within ±3dB. Fatigue damage spectrum(FDS) computed with a normal distribution signal and FDS computed with a non-normal distribution signal generated using the ZMNL method are compared. FDS computed using the normal distribution signal of kurtosis 3 will show a big difference over the 100Hz with FDS computed using the signal of kurtosis 6. This paper shows through such FDS comparison that a difference in fatigue life prediction may result in if a vibration profile which does not consider kurtosis occurring in the operating environment of a product is used in a vibration test.

This paper develops a LED fishing lamp mounting system which slides in and out a LED fishing lamp mounting rack according to fishing situation of a fishing boat. Sliding mechanism of the LED fishing lamp mounting system is realized with a rack and pinion. Components of the LED fishing lamp mounting system are modeled with finite elements. In addition, the LED fishing lamp mounting system is modeled with rigid bodies. A rigid body model of the LED fishing lamp mounting system is interfaced with finite element component models to develop a computational model of the LED fishing lamp mounting system. A simulation is performed with the developed computational model for dynamic stress analysis of the LED fishing lamp mounting system. A bouncing, rolling, and pitching motion which describe a very rough sea are used as input conditions for the simulation. Six cases are considered for the simulation based on the number of fishing lamp and the location of sliding rack.

This paper develops a fishing lamp mounting system which opens or closes a mounting rack according to a fishing situation. A developing fishing lamp mounting system is designed using CAD software. Members composing the fishing lamp mounting system are modeled with finite elements based on 3D CAD model. In addition, the fishing lamp mounting system is modeled with rigid bodies. A rigid body model of the fishing lamp mounting system is interfaced with finite element component models to develop a computational model of the fishing lamp mounting system for dynamic stress analysis. This paper performs a simulation with bouncing, rolling and pitching motion which describe a very rough sea condition. This paper manufactures a fishing lamp mounting system which is designed with CAD software and analyzed dynamic stress with CAE technique.